Aspects described herein relate to various methods, systems and apparatuses that may improve the accuracy of object classifications and object boundary definitions for a semantic segmentation technique. For example, the semantic segmentation technique may be based on a hierarchy of two or more layers. The two or more layers may include neural networks that analyze image data at different resolution scales. Each layer of the hierarchy may determine object boundary features and object class features. Each layer of the hierarchy may share its object boundary features and/or its object class features with one or more other layers in the hierarchy. In turn, each of other layers of the hierarchy may determine its object boundary features and/or its object class features based on the shared features.
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